CoM Based Inverse Kinematics Algorithm for Bipedal Running Motion

カテゴリ: 全国大会

論文No: 4-229

グループ名: 【全国大会】平成21年電気学会全国大会論文集

発行日: 2009/03/15

タイトル(英語): CoM Based Inverse Kinematics Algorithm for Bipedal Running Motion

著者名: Barkan Ugurlu (横浜国立大学),河村篤男 (横浜国立大学)

キーワード: 二足ロボット|重心|逆運動学

要約(日本語): This paper is aimed at proposing an explicit Inverse Kinematics algorithm which is based on CoM position. Since one mass models are being used widespread, our algorithm may provide accurate joint space mapping. Furthermore, it is also possible to manipulate CoM regardless of swing leg motion or waist joint rotation. Hence, in this paper, we simulated two cases: Swing leg and waist joint are moving and not moving. In both cases, we obtained the same result. In addition, proposed algorithm is also verified in bipedal jumping experiments.

原稿種別: 日本語

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